Fixes LIDAR definition and adds self filter.

LIDAR definition had the sensor frame off by about 6cm.
Also fixes abby's Kinect to match the corrected LIDAR frame.
Also adds self-filtering to the arm launch file.
Merge branch 'master' of 192.168.0.150:/home/abby/ros/dev_stacks/cwru-ros-pkg
More progress on tabletop perception.